Project Goals Design and build a fully submersible robotic fish platform powered by McKibben muscles Execute realistic fish motion with a fish-like appearance Prove feasibility of hydraulic, autonomous McKibben muscles

Background: What’s a McKibben Muscle? A fluid-pressure powered muscle Soft rubber tubing inside a braided sheath Radial expansion causes axial contraction Weaved Sleeve Pneumatic Bladder End Caps Air hose

Background: What’s a McKibben Muscle? A fluid-pressure powered muscle Soft rubber tubing inside a braided sheath Radial expansion causes axial contraction Pressurized Fluid

Why McKibben muscles? Smooth motion Lightweight, flexible Biomimetic Applications to: – Soft or underwater robotics – Assistive technologies – Remote maintenance or surveillance – Manufacturing

Formal Design Process System Level Design Problem Definition and Planning Subsystem Level Design Detailed Design Build, Test, and Integrate Final Product Literature review and MATLAB motion simulations aided design decisions Advanced planning enabled optimized layout for buoyancy and C.O.G. Preliminary testing made for efficient system integration

Design Features Watertight polycarbonate enclosure Fluid system – Internal centrifugal pump – Solenoid valve bank – Hydraulic muscles Controls – Arduino, batteries, necessary circuitry – Bluetooth-controlled through smartphone app Motion parameters from literature – Body-caudal type locomotion – Phase delays captured in solenoid timing Appearance – Composite fiberglass shell with realistic paint-job – Rubberized Spandex fabric as tail skin

Results

Summary Results: – Novel robotic design that utilizes hydraulic McKibben style muscles – Realistic, successful, inexpensive prototype – Future applications in underwater exploration Unique Design Features: – First autonomous design to utilize air muscles in hydraulic configuration – No onboard fluid reservoir required – Onboard controls with Bluetooth communication

Acknowledgements

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